DocumentCode
2130966
Title
Dynamic vision for ROV stabilization
Author
Wasielewski, S. ; Aldon, M.J.
Author_Institution
LIRMM, Montpellier, France
Volume
3
fYear
1996
fDate
23-26 Sep 1996
Firstpage
1082
Abstract
Stationkeeping is an important capability for various functions involving the operation of undersea vehicles. This involves an accurate estimation of the vehicle displacement. In this paper we propose a monocular vision system for determining the motion of an underwater remotely operated vehicle. The camera motion is estimated with a feature-based method which requires the extraction and the matching of relevant features. The performance of the algorithm is presented with simulated and synthetic images
Keywords
feature extraction; marine systems; mobile robots; motion estimation; position control; robot vision; ROV stabilization; algorithm; camera motion; dynamic vision; extraction; feature-based method; monocular vision system; performance; stationkeeping; undersea vehicles; underwater remotely operated vehicle; vehicle displacement; Cameras; Cleaning; Image motion analysis; Inspection; Machine vision; Motion estimation; Optical sensors; Petroleum; Remotely operated vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '96. MTS/IEEE. Prospects for the 21st Century. Conference Proceedings
Conference_Location
Fort Lauderdale, FL
Print_ISBN
0-7803-3519-8
Type
conf
DOI
10.1109/OCEANS.1996.569052
Filename
569052
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